Copper Oxide Microtufts on Natural Fractals for Efficient Water Harvesting.

Hierarchical surfaces that aid in the droplet nucleation, growth, and removal is highly desirable for fog and moisture harvesting applications. Taking inspiration from the unique architecture of leaf skeletons, we present a multiscale surface capable of rapidly nucleating, growing, and directional transport of the water droplets. Copper oxide microtufts were fabricated onto the Ficus religiosa leaf skeletons via electroplating and chemical oxidation techniques. The fabricated surfaces with microtufts had high wettability and very good fog harvesting ability. CuO surfaces tend to become hydrophobic over time because of the adsorption of the airborne species. The surfaces were efficient in fog harvesting even when the hydrophobic coating is present. The overall water collection efficiencies were determined, and the role of the microtufts, fractal structures, and the orientation of leaf veins was investigated. Compared to the planar control surfaces, the noncoated and hydrophobic layer-coated copper oxide microtufts on the leaf skeletons displayed a significant increase in the fog harvesting efficiency. For superhydrophilic skeleton surfaces, the water collection rate was also observed to slightly vary with the vein orientation. The CuO microtufts along with high surface area fractals allowed an effective and sustainable way to capture and transport water. The study is expected to provide valuable insights into the design and fabrication of sustainable and efficient fog harvesting systems.

Adaptive Self-Sealing Suction-Based Soft Robotic Gripper.

While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction-based soft robotic gripper where suction is created inside a self-sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self-adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air-tight self-sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self-adaptability and enhanced suction performance, allow the membrane-based suction mechanism to grip various three-dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures-based and active suction-based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping.

Magnetically switchable soft suction grippers.

Grasping is one of the key tasks for robots. Gripping fragile and complex three-dimensional (3D) objects without applying excessive contact forces has been a challenge for traditional rigid robot grippers. To solve this challenge, soft robotic grippers have been recently proposed for applying small forces and for conforming to complex 3D object shapes passively and easily. However, rigid grippers are still able to exert larger forces, necessary for picking heavy objects. Therefore, in this study, we propose a magnetically switchable soft suction gripper (diameter: 20 mm) to be able to apply both small and large forces. The suction gripper is in its soft state during approach and attachment while it is switched to its rigid state during picking. Such stiffness switching is enabled by filling the soft suction cup with a magnetorheological fluid (MR fluid), which is switched between low-viscosity (soft) and high-viscosity (rigid) states using a strong magnetic field. We characterized the gripper by measuring the force required to pull the gripper from a smooth glass surface. The force was up to 90% larger when the magnetic field was applied (7.1 N vs. 3.8 N). We also demonstrated picking of curved, rough, and wet 3D objects, and thin and delicate films. The proposed stiffness-switchable gripper can also carry heavy objects and still be delicate while handling fragile objects, which is very beneficial for future potential industrial part pick-and-place applications.